Speed Control of PMSM Using HALL Signal Effect With Six Pulse Inverter in MATLAB/SIMLINK
Speed Control of PMSM Using HALL Signal Effect With Six Pulse Inverter in MATLAB/SIMLINK
Where:
e(k) = Input error in step k
This module implements the following true table for hall w(k) = Desired value in step k
signal and EMF signals m(k) = Measured value in step k
u(k) = Controller output in step k information is available by counting the number of pulses
up(k) = Proportional output portion in step k within a fix time period.
uI(k) = Integral output portion in step k
uI(k-1) = Integral output portion in step k-1 The three Hall Effect sensors provide three overlapping
TI = Integral time constant signals giving a 60 wide position range. The three
T = Sampling time signals can be wired to the F280x Input Capture/GPIO
Kc = Controller gain pins, thus speed information is available by measuring the
time interval between two Input Captures. The time
4. The Hysteresis Mode interval is automatically stored by the 280x into a specific
register at each Input Capture. From speed information it
In the hysteresis-type current regulator, the power is numerically possible to get the precise position
transistors are switched off and on according to whether information needed for sharp firing commands.
the current is greater or less than a reference current. The The resolver is made up of three windings (different from
error is used directly to control the states of the power the motors windings): one linked to the rotor and
transistors. The hysteresis controller is used to limit the supplied with a sinusoidal source and two other
phase current within a preset hysteresis band. As the orthogonal coils linked to the stator. A Back EMF is
supply voltage is fixed, the result is that the switching induced by the rotating coil in each of the two stator
frequency varies as the current error varies. The current resolver windings. By decoding these two signals it is
chopping operation is thus not a fixed chopping possible to get cos(q) and sin(q) where q is the rotor
frequency PWM technique. This method is more position. The resolver resolution depends only on the AD
commonly implemented in drives where motor speed and conversion.
load do not vary too much, so that the variation in
switching frequency is small. Here again, both hard and 6. Hall effect Current Sensing device
soft chopping schemes are possible. Since the width of
the tolerance band is a design parameter, this mode A characteristic of the PMSM control is to have only one
allows current control to be as precise as desired, but current at a time in the motor (two phases ON).
acoustic and electromagnetic noise are difficult to filter Consequently, it is not necessary to put a current sensor
because of the varying switching frequency. on each phase of the motor; one sensor placed in the line
inverter input makes it possible to control the current of
5. Shaft Position HALL effect Sensors each phase. Moreover, using this sensor on the ground
line, insulated systems are not necessary, and a low cost
The position information is used to generate precise firing resistor can be used. Its value is set such that it activates
commands for the power converter, ensuring drive the integrated over-current protection when the maximum
stability and fast dynamic response. In servo applications current permitted by the power board has been reached.
position feedback is also used in the position feedback Each current measurement leads to a new PWM duty
loop. Velocity feedback can be derived from the position cycle loaded at the beginning of a PWM cycle. Note that,
data, thus eliminating a separate velocity transducer for during Turn OFF, the shunt device does not have this
the speed control loop. Three common types of position current to sense, regardless of whether the inverter is
sensors are used: the incremental sensors, the three Hall driven in hard chopping or in soft chopping mode. The
Effect sensor and resolver. figure below depicts the shunt current in soft chopping
mode and shows that in the Turn OFF operation the
The incremental sensors use optically coded disks with decreasing current flows through the M2 free wheeling
either single track or quadrature resolution to produce a diode and through the maintained closed M4 (so there is
series of square wave pulses. The position is determined no current observable in the shunt in this chopping mode
by counting the number of pulses from a known reference during Turn OFF). This implies that it is necessary to start
position. Quadrature encoders are direction sensitive and a current conversion in the middle of the PWM duty
so do not produce false data due to any vibration when
the shaft begins rotation. The Quadrature Encoder Pulse
unit of the F280x handles encoders output lines and can
provide 1, 2 or 4 times the encoder resolution. Speed
cycle.
The Permanent Magnet Synchronous Machine block
assumes a linear magnetic circuit with no saturation of the
stator and rotor iron. This assumption can be made
because of the large air gap usually found in permanent
magnet synchronous machines.
Limitations
When you use Permanent Magnet Synchronous Machine
blocks in discrete systems, you might have to use a small
parasitic resistive load, connected at the machine
terminals, in order to avoid numerical oscillations. Large
sample times require larger loads. The minimum resistive
load is proportional to the sample time. As a rule of
Fig. 9 Shunt Resistor Voltage Drop according to thumb, remember that with a 25 s time step on a 60 Hz
PWM DutyCycles (Soft Chopping) system, the minimum load is approximately 2.5% of the
machine nominal power. For example, a 200 MVA PM
In the hard chopping mode during the Turn OFF neither synchronous machine in a power system discretized with
M1 nor M4 drive current, so that the decreasing phase a 50 s sample time requires approximately 5% of
current flows from ground through the shunt resistor via resistive load or 10 MW. If the sample time is reduced to
M2 and M3 free wheeling diodes and back to ground via 20 s, a resistive load of 4 MW should be sufficient.
the capacitor. In this chopping mode it is possible to see Calculation
the exponentially decreasing phase current across the The circuit illustrates the use of the Permanent Magnet
shunt as a negative shunt voltage drop appears. Assuming Synchronous Machine block in motoring mode with a
that neither the power board nor the control board support closed-loop control system built entirely with Simulink
negative voltages, this necessitates that the current be blocks. The complete system includes a six step inverter
sensed in the middle of the Turn ON. block from feedback of hall signal. Two control loops are
7. Position and Speed Sensing PMSM Simulation used; the inner loop synchronizes the pulses of the bridge
The motor in this application is equipped with three Hall with the electromotive forces, and the outer loop regulates
Effect sensors. These sensors are fed by the power the motor's speed, by varying the DC bus voltage. The
electronics board. The sensor outputs are directly wired to mechanical torque applied at the motor's shaft is
the GPIO pins. The Hall Effect sensors give three 180 originally 0 N.m (no load) and steps to its nominal value
overlapping signals, thus providing the six mandatory (3 N.m) at t = 0.1 second. The parameters of the machine
commutation points: The rising and falling edges of the are found in the dialog box section.
sensor output are detected, the corresponding flags are
generated. The system first determines which edge has
been detected, then computes the time elapsed since the
last detected edge and commutates the supplied phases.
The speed feedback is derived from the position sensor
output signals. As mentioned in the previous paragraph,
there are six commutation signals per mechanical
revolution. In other words, between two commutation
signals there are 60 mechanical degrees. As the speed
can be written as:
/T
where is the mechanical angle it is possible to get the
speed from the computed elapsed time between two
captures. Between two commutation signals the angle
variation is constant as the Hall Effect sensors are fixed
relative to the motor, so speed sensing is reduced to a Fig.10.simulation diagram with hall signal effect
simple division.
Set the simulation parameters as follows: When the Back EMF flat top area parameter of the
Type: Fixed-step trapezoidal model is changed from 120 to 0, the model
Integrator type: Runge-Kutta, ode4 reacts exactly like the sinusoidal model. The
Sample time: 5e-6 electromotive force e_a is purely sinusoidal and the
Stop time: 0.2 torque ripple is less than the previous case. The sinusoidal
Set the Flux distribution parameter to Trapezoidal and model requires a larger current to produce the same
run the simulation to observe the motor's torque, speed, torque. That's why the trapezoidal machine is used in high
and currents. Change the Back EMF flat top area torque applications, and the sinusoidal machine in
parameter of the trapezoidal model from 120 to 0 and precision applications.
observe the waveform of the electromotive force e_a.
Fif 8. Conclusions
In this paper a review of position control methods for
PMSM motors has been presented. The fundamentals of
various techniques have been introduced, mainly back-
EMF schemes and estimators, as a useful reference for
preliminary investigation of conventional methods.
Advances in the position control and applications were
also discussed.
To provide insight in control techniques and their
benefits a classification of existing methods and newer
methods were presented with their merits and drawbacks.
From the above discussion, it is obvious that the control
for PMSM motors using position sensors, such as shaft
encoders, resolvers or Hall-effect probes, can be
improved by means of the elimination of these sensors to
further reduce cost and increase reliability. Furthermore,
sensorless control is the only choice for some applications
where those sensors cannot function reliably due to harsh
environmental conditions and a higher performance is
required.
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